Robot and information processing system

ABSTRACT

A robot provides a communicating means to move based on the transmission and reception of information to/from the outside, thereby making it possible to realize a robot with high usability. In addition, it recognizes the user&#39;s condition based on sensors provided around a user and outputs a response message according to the recognition. Thus, an information processing system which is very helpful can be realized.

TECHNICAL FIELD

This invention is related to a robot and an information processingsystem, and for example, is suitably applied to an entertainment robottreated as a pet.

BACKGROUND ART

Recently, information communication technology using informationtransmission lines, such as a telephone line for public telephones,mobile telephones and the like, Internet, and communication satellitecircuits has been significantly improved in order to surely transmitvarious kinds of information via images and sounds at real time.

However, such the current information communication technology that candeal with only images and sounds has a problem that it lacks reality inthe case where a user transmits his feelings to a communicating party,for example.

Besides, in recent years, development and production of robots has beenprosperous in addition to the data communication technology. Forexample, an amusement robot treated as a pet has been considered, whichlooks like a dog, a cat or the like and can automatically act accordingto the surrounding situations.

Such the amusement robot, however, merely acts similarly to a dog or acat, and can not act, for example, so as to be very helpful for a user,other than amusements.

For example, if such a amusement robot has a communicating function forcommunicating with the outside through various kinds of transmissionlines, such as a telephone line, Internet, and communication satellitecircuits, a user can visually transmit his feelings to the amusementrobot via movements using the communicating function and can make therobot act so as to be very helpful for himself, so that it will bepossible to improve the value of utilizing an amusement robot.

DISCLOSURE OF INVENTION

The present invention has been made in view of the aforementionedproblems, and is intended to provide a robot and an informationprocessing system that are valuable in use.

In order to solve the aforementioned problems, the present inventionprovides a robot comprising a movement part for produce movements, anactuator for driving the movement part, an actuator control means forcontrolling the actuator, a communicating means for receiving signalsused between the robot and another electronic device, and an informationdetecting means for detecting information from signals received by thecommunicating means. The actuator control means controls the actuatorbased on the information detected by the information detecting means, tomake the movement part produce stated movements, thereby it is possibleto improve the value of the robot in use.

Further, in the present invention, the robot comprises a memory meansfor memorizing stated information, a memorized content changing meansfor changing the memorized content memorized in the memory means, acommunicating means for receiving signals used between the robot andanother electronic device, and a request detecting means for detectingan information updating request which indicates the update of statedinformation from the signals received by the communicating means. Thememorized content changing means updates stated information based on theinformation updating request, which is detected by the request detectingmeans, thereby it is possible to improve the value of the robot in use.

Further, in the present invention, the robot has an output-of-sensorreceiving means for receiving outputs from one or more sensor(s)provided in a user himself or near the user, a user's conditionrecognizing means for recognizing the user's condition based on theoutputs of the sensor(s) received by the output-of-sensor receivingmeans, a movement part for producing stated movements, an actuator fordriving the movement part, an actuator control means for controlling theactuator, and a telephone communicating means for receiving signals usedbetween the robot and another electronic device. When the telephonecommunicating means receives a communication signal from anotherelectronic device, if the phone call is not answered within a fixedtime, the actuator control means makes the movement part produce statedmovements based on the user's condition recognized by the user'scondition recognizing means, thereby it is possible to improve the valueof the robot in use.

Furthermore, in the present invention, an information processing systemcomprises one or more sensor(s) provided in the user himself or near theuser, a user's condition recognizing means for recognizing user'sconditions based on outputs of the sensor(s), a response message memorymeans for memorizing response messages according to the user'sconditions, and a response message output means for outputting aresponse message. When a phone call is not answered within a fixed time,the response-message output means outputs a response message based onthe user's conditions, which are recognized by the user's conditionrecognizing means, thereby it is possible to improve the value of therobot in use.

Furthermore, the present invention provides the robot comprising amovement part for producing movements, an actuator for driving themovement part, an actuator control means for controlling the actuator, acommunicating means for transmitting signals used between the robot andanother electronic device, an information input means for inputtinginformation from the outside, and an information output means foroutputting information to the outside. The actuator control meanscontrols the actuator based on the information, which is input to theinformation input means, to make the movement part produce statedmovements, and the information output means outputs the statedinformation from the communicating means to another electronic devicebased on the information, which is input to the information input means,thereby it is possible to improve the value of the robot in use.

Furthermore, the present invention provides the robot comprising asensor means for inputting information from a user, a movement part forproducing movements, an actuator for driving the movement part, anactuator control means for controlling the actuator, an informationoutput means for outputting stated information, and a communicatingmeans for transmitting signals used between the robot and anotherelectronic device. When an input is not reached from a user within afixed time, the actuator control means makes the movement part producestated movements. After producing the stated movements, when the inputis not reached yet from the user within a fixed time, the communicatingmeans transmits stated information output from the information outputmeans to another electronic device, thereby it is possible to improvethe value of the robot in use.

Furthermore, the present invention provides the robot comprising amovement part for producing movements, an actuator for driving themovement part, an actuator control means for controlling the actuator, asignal receiving means for receiving signals used between the robot andanother electronic device, an electronic device control means forcontrolling another electronic device, and an information detectingmeans for detecting stated information from the signals received by thesignal receiving means. The actuator control means controls the actuatorbased on the stated information detected by the information detectingmeans to make the movement part produce stated movements, and theelectronic device control means controls another electronic device basedon the stated information detected by the information detecting means,thereby it is possible to improve the value of the robot in use.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view showing the structure of a robot accordingto the present invention.

FIG. 2 is a block diagram showing the circuit structure of the robotshown in FIG. 1.

FIG. 3 is a perspective view showing the mechanism of joints of therobot shown in FIG. 1.

FIG. 4 is a block diagram showing the circuit structure of the joints ofthe robot shown in FIG. 3.

FIG. 5 is a block diagram used for explaining a telephone function ofthe robot.

FIG. 6 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 7 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 8 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 9 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 10 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 11 is a block diagram used for explaining the telephone function ofthe robot.

FIG. 12 is a schematic diagram used for explaining an answeringtelephone function.

FIG. 13 is a schematic diagram used for explaining the answeringtelephone function.

FIG. 14 is a schematic diagram used for explaining a call connectingfunction.

FIG. 15 is a schematic diagram used for explaining a remote controlfunction.

FIG. 16 is a schematic diagram used for explaining the remote controlfunction.

FIG. 17 is a schematic diagram used for explaining a security function.

FIG. 18 is a schematic diagram used for explaining the securityfunction.

FIG. 19 is a schematic diagram used for explaining an automaticallymaintenance and version-up function.

FIG. 20 is a schematic diagram used for explaining an E-mail managementfunction.

FIG. 21 is a schematic diagram used for explaining ahelper-requiring-person monitoring function.

FIG. 22 is a schematic diagram used for a dancing function.

FIG. 23 is a schematic diagram used for an inter-robot communicatingfunction.

FIG. 24 is a schematic diagram used for the inter-robot communicatingfunction.

FIG. 25 is a block diagram showing the structure of a face-patternstudying and recognizing processing section.

FIG. 26 is a block diagram showing the structure of asynchronized-signal generator.

BEST MODE FOR CARRYING OUT THE INVENTION

An embodiment of the present invention will hereinafter be describedwith reference to the drawings.

(1) Structure of robot according to this embodiment

In FIG. 1, numeral 1 shows a robot according to this embodiment as awhole. Legs 5A to 5D comprising the upper halves of the legs 3A to 3Dand the lower halves of the legs 4A to 4D are connected to thefront-right, front-left, back-right and back-left sides of a body 2,respectively. In addition, a tail 7 is connected to the back of the body2, projecting upwards.

In this case, as shown in FIG. 2, a head 6 is comprised of a microphone10, a speaker 11, image recognizing section 12 being a CCD (ChargeCoupled Device) camera, an image display 13 being a liquid displaypanel, a touch sensor 14 for detecting pressure given by the outside andcontact with the outside, a gas and smoke sensor for detecting leakingof gas and fire, an infrared transmitter/receiver 16 for transmittingand receiving infrared signals IR1, IR2, and an output-of-sensorreceiver 17 being a radio receiver or the like.

Further, the body 2 is comprised of a controller 20 in the form of amicrocomputer including a CPU (Central Processing Unit), a ROM (ReadOnly Memory), and a RAM (Random Access Memory), a sound processor 21having a synchronized-sound producing function and a sound recognizingfunction, an image processor 22 having an image producing function, anacceleration and angular velocity sensor 23 for detecting the postureand position of the robot 1, a key input section 24 being a keyboardhaving plural keys as shown in FIG. 1 for inputting code numbers ofrequests desired by a user, and a communication unit 25 for making thecontroller 20 communicate with the outside through a telephone line or acircuit for Internet, or by radio or infrared signals. In addition, abattery 26 (FIG. 1) is attached to the stomach of the body 2 as a powersource of this robot 1.

On the other hand, the tail 7 has an antenna 27 electrically connectedto the communication unit 25 of the body 2. And, a plurality of powersensors 28A to 28D for detecting pressure given from the outside areattached to the legs 5A to 5D, respectively.

In addition, the joints in the legs 5A-5D (the joints between the upperhalves of the legs 3A-3D and the lower halves of the legs 4A-4D), thejoints between each leg 5A-5D and the body 2, the joint between the head6 and the body 2, and a joint between the tail 7 and the body 6 each hasa joint mechanism constructed as described below.

The microphone 10 of the head 6 gathers words given by the user andoutside sounds like music and sounds, and transmits the obtainedgathered-sound signal S1 to the sound processor 21. The sound processor21 recognizes the meanings of the words, which are gathered through themicrophone 10, and of the words, which are transmitted from the outsidethrough the telephone line, based on the gathered-sound signal S1supplied from the microphone 10 and sound information supplied from thecommunication unit 25 as described later, and transmits the recognitionresult to the controller 20 and the communication unit 25 as a soundrecognition signal S2A. Further, the sound processor 21 generates asynchronized sound under the control of the controller 20 and transmitsthis to the speaker 11 and the communication unit 25 as a sound signalS2B.

The image recognizing section 12 photographs the surroundings, andtransmits the obtained photograph signal S3 to the image processor 22.The image processor 22 recognizes the outside situation photographed bythe image recognizing section 12 and images transmitted through thetelephone line or the like from the outside, based on the photographsignal S4A supplied from the image recognizing section 12 and the imageinformation supplied from the communication unit 25 as described below,and transmits the recognition result to the controller 20 as an imagerecognition signal S4A. In addition, the image processor 22 performspredetermined signal processing on the photograph signal S3 from theimage recognizing section 12 under the control of the controller 20, andtransmits the obtained image signal S4B to the communication unit 25.

The touch sensor 14 detects physical works like “touching” and “patting”from the user and pressure received when the head 6 contacts to anoutside thing, and transmits the detection result to the controller 20as a pressure detection signal S5.

The gas and smoke sensor 15 always checks the concentration ofsurrounding gas and the concentration of surrounding smoke, and whendetecting gas or smoke of which concentration is more than a prescribedvalue, transmits to the controller 20 a gas and smoke detection signalS6 informing of this situation.

The infrared transmitter/receiver 16 receives the infrared signal RI1supplied from the user via the infrared remote controller as a controlsignal, and transmits the reception result to the controller 20 as aninfrared reception signal S7.

The output-of-sensor receiver 17 receives an output of sensortransmitted various sensors by radio which are installed in a house fordetecting the user's living condition, such as the condition ofelectricity in the room (ON/OFF), whether the faucet is turned on in thekitchen, and whether gas is opened in the bathroom. Then, it transmitsthe reception result as an output-of-sensor reception signal S12 to thecontroller 20.

And, the acceleration and angular velocity sensor 23 of the body 2detects the acceleration and angular velocity of the time when the robot1 changes its posture or when the robot 1 moves. Then it transmits thedetection result to the controller 20 as an acceleration and angularvelocity detection signal S8.

The key input section 24 recognizes the command based on the code numberinputted by the user, and transmits the recognition result to thecontroller 20 as a key input signal S9.

The communication unit 25, under the control of the controller 20,communicates with the outside via the antenna 27 through the telephoneline or a circuit for Internet, or by radio for infrared signals, totransmits the obtained image information to the image processor 22 andalso transmits sound information for voice, music or the like to thesound processor 21. In addition, it transmits information such ascommands and text data from the outside to the controller 20 as areceived information signal S10.

Further, the power sensors 28A-28D of the legs 5A-5D each detects themagnitude of power given by the user, and transmits the detection resultto the controller 20 as a power detection signal S11.

Based on the sound recognition signal S2A, the image recognition signalS4A, the pressure detection signal S5, the gas and smoke detectionsignal S6, the infrared reception signal S7, the output-of-sensorreception signal S12, the acceleration and angular velocity detectionsignal S8, the key input signal S9, the received information signal S10and the power detection signal S11 respectively supplied from the soundprocessor 21, the image processor 22, the touch sensor 14, the gas andsmoke sensor 15, the infrared transmitter/receiver 16, theoutput-of-sensor receiver 17, the acceleration and angular velocitysensor 23, the key input section 24, the communication unit 25, and thepower sensors 28A-28D, the controller 20 judges the surroundingsituation, presence or absence of works by the user, the presence orabsence of abnormality, the presence or absence of commands from theuser or the outside, the user's living condition, and its own postureand position.

And, the controller 20 decides its own next movement based on thisjudgment and the control program previously stored in an internal memorynot shown, and makes the head 6 move upward and downward, makes the tail7 wag back and fourth, makes the legs 5A to 5D move to walk, or the likeby moving necessary joint mechanisms based on the decision.

Further, the controller 20 controls the sound processor 21, the imageprocessor 22, or/and the infrared receiver 16 as required, to givesounds based on the sound information received from the communicatingparty via the communication unit 25 and synchronized sounds generated bythe sound processor 21, from the speaker 11, to display images based onthe image information received from the communicating party via thecommunication unit 25 and images generated by the image processor, onthe image display 13, or to emit the infrared signal IR2 for controllingoutside devices to the infrared receiver 16.

In addition, the controller 20 controls the communication unit 25 asrequired, to transmit sound information based on the sound signal S2Bfrom the sound processor 21, the image information based on the imagesignal S4B from the image processor 22, and the command informationgenerated by the controller 20 itself in accordance with themanipulation of the outside, to the communicating party.

In this way, the robot 1, based on the its surrounding situations andthe commands or the like from the user or the communicating party, canact in accordance with situations and commands.

Note that, in the case of this embodiment, the communication unit 25 iscomposed of any of communicating devices such as a telephone modem, ahandyphone of a cordless telephone, a mobile telephone, atransmitter/receiver for radio waves or a transmitter/receiver forinfrared signals, and is exchangeable together with the antenna 27.

Therefore, this robot 1 selects a communication state desired by theuser from various kinds of communication states such as a telephone, anInternet, a radio signal, and an infrared signal, to communicate withoutside in the selected communication state.

Next, the concrete structures of the joint mechanisms of the joints inthe legs 5A-5D, the joints between each leg 5A-5D and the body 2, thejoint between the head 6 and the body 2, and the joint between the tail7 and the body 6 will be described in reference with FIGS. 3 and 4.

As can be seen from FIGS. 3 and 4, the joint mechanism between the body2 and each leg 5A-5D is composed of a bracket 30A-30D provided on thebody 2 as shown in FIG. 3, and two pairs of actuators 34A, 34B, 34D,34E, 34G, 34H, 34J, 34K each one having a motor 31A, 31B, 31D, 31E, 31G,31H, 31J, 31K, a position sensor 32A, 32B, 32D, 32E, 32G, 32H, 32J, 32K,and a driver 33A, 33B, 33D, 33E, 33G, 33H, 33J, 33K.

The upper ends of the upper halves of the legs 3A-3D of the legs 5A-5Dare attached to the respective brackets 30A-30D in the joint mechanisms.The motors 31A, 31D, 31G, 31J in one of the respective two actuators34A, 34D, 34G, 34J are driven so as to rotate the upper halves of thelegs 3A-3D together with the brackets 31A-30D in the directions shown byarrows R1-R4 with central axes CL1-CL4 as a center, respectively. On theother hand, the motors 31B, 31E, 31H, 31K in the other actuators 34B,34E, 34H, 34K are driven so as to rotate the upper halves of the legs3A-3D in the directions shown by arrows R5-R8 with central axes CL5-CL8as a center, respectively.

Further, the joint mechanisms consisting the joints in the legs 5A-5D(every joint between the upper half of the leg 3A-3D and the lower halfof the leg 4A-4D) each is composed of a connector 35A-35D attached tothe lower end of the upper half of the leg 3A-3D and an actuator 34C,34F, 34I, 34L having a motor 31C, 31F, 31I, 31L, a position sensor 32C,32F, 32I, 32L, and a driver 33C, 33F, 33I, 33L.

In addition, the upper ends of the lower halves of the legs 4A-4D areattached to the respective connectors 35A-35D of the joint mechanisms.The motors 31C, 31F, 31I, 31L of the corresponding actuators 34C, 34F,34I, 34L are driven to rotate the lower halves of the legs 4A-4D in thedirections shown by arrows R9-R12 with central axes CL9-CL12 as acenter.

Further, the joint mechanism connecting the head 6 and the body 2 iscomposed of three pairs of actuators 34M, 34N, 34P each having a motor31M, 31N, 31P, a position sensor 32M, 32N, 32P, and a driver 33M, 33N,33P.

And, the head 6 is attached to the bracket in this joint mechanism. Themotor 31M of the first actuator 34M is driven so as to make the head 6shake in the direction of an arrow R13 with a central axis CL13 as acenter. The motor 31N of the second actuator 34N is rotated so as tomake the head 6 shake in the direction of an arrow R14 with a centralaxis CL14 as a center. The third actuator 34P is driven so as to makethe head 6 shake in the direction of an arrow R15 with a central axisCL15 as a center.

Furthermore, the joint mechanism connecting the body 2 and the tail 7 iscomposed of a bracket (not shown) attached to the connecting position oftail 7 and the body 2, and an actuator 34Q comprising a motor 31Q, aposition sensor 32Q, and a driver 33Q.

Besides, the lower end of the tail 7 is attached to the bracket of thisjoint mechanism. The motor 31Q of the actuator 34Q is driven so as tomake the tail 7 wag in the direction of an arrow R16 with the centralaxis CL16 as a center.

In these joint mechanisms, each of the drivers 33A-33Q of the actuators34A-34Q is connected to the controller 20 with a bus 36 as shown in FIG.4, and the motor 31A-31Q and the position sensor 32A-32Q are connectedto the corresponding driver 33A-33Q.

Therefore, in this robot 1, the motors 31A-31Q desired by the controller20 can be controlled through the corresponding drivers 33A-34Q, and therotary amounts of the motors 31A-31Q which are detected by thecorresponding position sensors 32A-32Q at this time can be recognizedthrough the drivers 33A-34Q, thereby making it possible to rotate eachmotor 31A-31Q by a desired angle with accuracy.

Note that, in this embodiment, the joint mechanisms in the legs 5A-5D(every joint between the upper half of the leg 3A-3D and the lower halfof the leg 4A-4D) and the joint mechanisms between each of the legs5A-5D and the body 2 each has a brake mechanism 37. And using thefunction of this brake mechanism, this robot 1 can be directly taught arelative position relation of an arbitrary upper half of the leg 3A-3Dand lower half of the leg 4A-4D in the legs 5A-5D by a manipulator withthe directly teaching method.

(2) Each function of the Robot 1

Next, each function of the robot 1 will be described.

Note that, as described above, the communication unit 25 of this robot 1is exchangeable and can communicate with the outside in a communicationstate desired by a user. In the following explanation, as shown in FIG.5 as one example, handyphones of a cordless telephone are applied as thecommunication unit 25 of the robot 1 in Mr. A's house 40 and thecommunication unit 25 of the robot 1 in Mr. B's house 41, and Mr. A'srobot 1 and Mr. B's robot 1 can communicate through the telephone linevia the telephones 42, 43, respectively.

(2-1) Robot telephone function

Firstly, this robot 1 has a robot telephone function so that users cancommunicate with each other using another one robot, which is the sameas the robot 1, with further reality as compared with communications onthe phone.

For example, when Mr. A manipulates the key input section 24 of Mr. A'srobot 1 to input a prescribed first code number and the telephone numberof Mr. B for making a phone call, the controller 20 of Mr. A's robot 1controls the communication unit 25 to call Mr. B's robot 1.

Then, when the controller 20 of Mr. B's robot 1 knows the phone callfrom the outside via the communication unit 25, it controls the soundprocessor 21 to give sounds from the speaker 11 for informing of thisphone call.

Then, when the controller 20 of Mr. A's robot 1 confirms that Mr. Banswers this call by manipulating Mr. B's robot 1, it controls thecommunication unit 25 to transmit image information on an image of Mr. Aphotographed by the image recognizing section 12, which is obtainedbased on the image signal S4B supplied from the image processor 22 tothe communication unit 25 at this time, and sound information on Mr. A'svoice gathered by the microphone, which is obtained based on the soundsignal S2B supplied from the sound processor 21 to the communicationunit 25, to Mr. B's robot 1.

At this time, the controller 20 of Mr. B's robot 1 controls the imageprocessor 22 to display the image of Mr. A based on the imageinformation transmitted through the telephone line 44 as shown in FIG.6, and on the other hand, controls the sound processor 21 to give Mr.A's voice based on the sound information transmitted through thetelephone line 44 from the speaker 11.

In similar way, the controller 20 of Mr. B's robot 1 controls thecommunication unit 25 to transmit image information on the image of Mr.B photographed by the image recognizing section 12, which is obtainedbased on the image signal S4B supplied from the image processor 22 tothe communication unit 25 at this time, and the sound information on Mr.B's voice gathered by the microphone 10, which is obtained based on thesound signal S2B supplied from the sound processor 21 to thecommunication unit 25, to Mr. A's robot 1.

At this time, the controller 20 of Mr. A's robot 1 controls the imageprocessor 22 to display the image of Mr. B based on the imageinformation transmitted through the telephone line 44 on the imagedisplay 13, and on the other hand, controls the sound processor 21 togive Mr. B's voice based on the sound information transmitted throughthe telephone line 44 from the speaker.

In this way, in this robot 1, the users can communicate with each otherusing two robots with sounds and images, like a video telephone.

On the other hand, the controllers 20 of the robots 1 of Mr. A and Mr. Beach always checks sounds transmitted through the telephone line 44 fromhis communicating party (Mr. B or Mr. A) based on the sound recognitioninformation S2A supplied from the sound processor 21.

When the controller 20 detects a previously registered word whichindicates agreement or a response like “Yes” and “uh-huh” in the voice,it controls the corresponding joint mechanisms to move the head 6 upwardand downward for nodding as shown in FIG. 7, for example.

Further, when the controller 20 detects a previously registered wordwhich indicates separation like “Bye-bye” and “See you”, it controls thecorresponding joint mechanisms to raise and shake one leg 5A for“Bye-bye”

Furthermore, in similar way, when the controller 20 detects a word whichindicates pessimism like “Sad” and “Sorry”, when it detects a ward whichindicates negative like “No way” and “No”, and when it detects a wordwhich indicates pleasure like “Got it!” and “happy”, it slowly moves thehead 6 downward for pessimism as shown in FIG. 9, shakes the head 6 fornegative as shown in FIG. 10, and wag the tail 7 for pleasure as shownin FIG. 11, respectively, for example.

Furthermore, other than these movements, when the controller 20 detectsa ward, for example, “How big”, it opens the front legs 5A, 5B of therobot 1 to express “size”, and moreover, when it detects voice oflaughing, it makes the robot 1 perform movements as if the robot 1 shookits body with laughing.

In this way, this robot 1 can act according to conversations based onvoices of his communicating party, thereby the user can visually feelfeelings of the communicating party.

Note that, the communicating party can make this robot 1 perform thesemovements by remote control.

Actually, in the middle of conversation between Mr. A's robot 1 and Mr.B's robot 1, when Mr. A manipulates the key input section 25 to input aprescribed second code number for manipulating the robot 1 of hiscommunicating party (Mr. B), the controller 20 of Mr. A's robot 1transmits this second code number to Mr. B's robot 1 via thecommunication unit 25.

As a result, the controller 20 of Mr. B's robot 1 controls thecorresponding joint mechanisms based on the supplied second code numberand a previously memorized table for movement patterns with respect tothe second code numbers, in order to perform the movements shown inFIGS. 7-11, movements showing size, or movements showing laughing.

In addition, in these robots 1, two robots 1 being communicating canperform the same movement.

In actual, while Mr. A's robot 1 and Mr. B's robot 1 are communicatingwith each other, for example, when Mr. A manipulates the key inputsection 24 to input a third code number for moving his own robot 1, thecontroller 20 of Mr. A's robot 1 drives the corresponding jointmechanisms based on a previously memorized table for movement patternswith respect to the third code numbers, to perform the designatedmovements.

In addition to this, the controller 20 of Mr. A's robot 1 transmits thisthird code number to Mr. B's robot 1 via the communication unit 25.

At this time, the controller 20 of Mr. B's robot 1 drives thecorresponding joint mechanisms based on the supplied third code numberand a previously memorized table for movement patterns with respect tothe third code numbers, to perform the designated movements.

Further, in these robots 1, a power from the outside (pressure ofshaking hands or the like) which one of two robots 1 being communicatingwith each other gets can be communicated through the other robot 1.

In actual, in these robots 1, while Mr. A's robot 1 and Mr.

B's robot 1 are communicating with each other, the controller 20 of Mr.A detects the given pressure based on the power detection signal S11supplied from the power sensors 28A-28B, and transmits the pressuredetection result to Mr. B's robot 1 via the communication unit 25.

At this time, the controller 20 of Mr. B's robot 1 drives thecorresponding joint mechanisms based on the supplied pressure detectionresult to generate the pressure, which Mr. A got, in the correspondinglegs 5A-5D.

In this way, in this robot 1, the intentions, feelings and movements ofthe user can be transmitted to his communicating party as the movementsof the robot 1.

(2-2) Answering telephone function

On the other hand, this robot 1 also has an answering telephonefunction.

In actual, when the controller 20 of the robot 1 knows a phone call fromthe outside via the communication unit 25, it controls the soundprocessor 21 as described above to give sounds from the speaker 11 forinforming of this phone call.

Then, when nobody answers this phone call within a predetermined time,the controller 20 controls the sound processor 21 to produce a fixedmessage (synchronized voice) for the answering telephone, and transmitsthis to the communication unit 25 as a sound signal S2B.

At this time, for example, the controller 20 judges the user's conditionof this time as shown in FIG. 13, based on outputs of various sensorsinstalled in the house as shown in FIG. 12, which are obtained based onthe output-of-sensor reception signal S12 from the output-of-sensorreceiver 17 (FIG. 2), and the current time information supplied from aclock not shown.

Then, the controller 20 makes the sound processor 21 produce an optimalmessage based on this judgment as a message for the above answeringtelephone and transmit this to the communicating party via thecommunication unit 25.

After that, the controller 20 stores sound information and/or imageinformation transferred from a communicating party into a memory notshown for memory until a predetermined time is passed or the line is cutoff.

Then, when a request for reproducing the message is inputted bymanipulating the key input section 24 or the like, the controller 20gives the voice based on the memorized sound information from thespeaker 11 and also displays the image based on the memorized imageinformation on the image display 13.

In this way, in this robot 1, as an answering telephone, messagesaccording to user's conditions are transmitted to the communicatingparty, and also messages and images from a communicating party arememorized.

Furthermore, when a call waiting mode is selected by manipulating thekey input section 24 in the middle of conversation, the controller 20 ofthe robot 1 controls the sound processor 21 to produce predeterminedmusic and/or sounds, and transmits this to the communicating party viathe communication unit 25. In this way, this robot 1 can give musicand/or a message to a communicating party for a call waiting.

(2-3) Call connecting function

On the other hand, as shown in FIG. 12, this robot 1 has a callconnecting function for connecting a phone call from the outside to acorresponding user of plural users (Mr. A, Mr. B, and Mr. C).

In actual, when the controller 20 of the robot 1 knows a phone call fromthe outside via the communication unit 25, it detects the telephonenumber of this phone call, for example, by using a number displayservice which is usually utilized in telephones.

Then, the controller 20, based on thus detected telephone number of thatphone call and the plural telephone numbers previously registeredcorresponding to Mr. A, Mr. B and Mr. C, judges who out of Mr. A, Mr. B,and Mr. C that phone call is for.

At this time, if the telephone number of that phone call can not bedetected or if the telephone number of that phone call has not beenregistered, the controller 20 controls the sound processor 21 to producea message for asking who that phone call is for, and transmits thissound information to the communicating party via the communication unit25. Then, the controller 20, based on the sound information which isgiven from the communicating party as a response, judges based on thesound recognition signal S2A from the sound processor 21 who out of Mr.A, Mr. B and Mr. C that cal is for.

Then, if the controller 20 judges that that phone call is for Mr. A, itlooks for Mr. A while moving by controlling the joint mechanisms of thelegs 5A-5D as required, based on the image recognition signal S4Asupplied via the image processor 22 and the previously registered imageinformation on Mr. A's face.

When the controller 20 finds Mr. A through this detection, it controlsthe joint mechanisms of the legs 5A-5D so as to move the robot 1 towardMr. A.

Then, when the robot 1 comes nearer to Mr. A within a predetermineddistance, the controller 20 controls the corresponding joint mechanismsto produce movements, for example, “sorrow” as described in FIG. 9 inthe case where that phone call for Mr. A is from a person who ispreviously registered as “a unfavorite”; and in the case where the phonecall is from a person who is previously registered as “a favorite”, forexample, movements “pleasure” are performed as described above in FIG.11.

In this way, in addition to the call connecting function, this robot caninform a user of a person, who is calling, with movements.

(2-4) Remote control function

In addition, this robot 1 has a remote control function which enablesthe user to call the robot 1 with an outside device 50 such as anexternal telephone and mobile phone, to use the dial buttons of theoutside device 50 in order to input a predetermined fourth code number,and to make the robot 1 turn ON/OFF the switches of a tape recorder 51,a television set 52 and the like or turn ON/OFF the switches 53, 54 onthe wall or on the floor.

In actual, when the controller 20 of the robot 1 knows a phone call fromthe outside device 50 via the communication unit 25 and then confirmsthe input of the fourth code number, it recognizes the request based onthis number and the previously memorized table of movements with respectto the fourth code numbers, and executes the predetermined processingpreviously set, based on the recognition result.

For example, in the case of a request to turn ON/OFF an electricalappliance such as the video tape recorder 51 and the television set 52,which can be controlled under remote control, the controller 20 controlsthe joint mechanisms of the legs 5A-5D while confirming the surroundingsituations based on the image recognition signal S4A from the imageprocessor 22, to move the robot 1 to the setting place of the electricalappliance.

Then, when the robot 1 moves up to the area where the electricalappliance can be controlled under remote control, the controller 20controls the infrared transmitter/receiver 15 to emit the infraredsignal RI12 as a control signal toward the electrical appliance, therebyturning ON/OFF the power of the electrical appliances.

Further, in the case of a request to turn the switch 53, 54 on the wallor on the floor ON/OFF, the controller 20 controls the joint mechanismsof the legs 5A-5D to move the robot 1 to the previously memorizedsetting place of the switch 53, 54 while confirming the surroundingsituations based on the image recognition signal S4A from the imageprocessor 22.

Then, when the robot 1 moves up to the area where the switch 53, 54 canbe controlled, the controller 20, in the case where the switch 53 is onthe wall, pushes the touch sensor 14, which is attached to the head 7,against the switch 53 to turn the switch 53 ON/OFF.

At this time, the controller 20 recognizes based on the output of thetouch sensor 14 whether the touch sensor 14 touched the switch 53,thereby it can surely execute ON/OFF operation.

On the other hand, in the case where the switch 54 is on the floor, thecontroller 20 controls the joint mechanisms of the corresponding leg5A-5D to push the leg 5A-5D against the switch 54, thereby the switch 54is turned ON/OFF.

FIG. 16 shows examples of other works of the robot 1. The robot 1 canturn ON/OFF the switch 56 of the hot-water supply system 55, which isinstalled on the wall, and can controls the switch 58 for automaticallycontrolling a blind 57 to move a motor 59 so as to open/close the blind57.

In addition, the robot 1 turns the switch 61 of the washing-takingdevice 60 ON, so that the washing-taking device 60 is driven to takewashings 62 into the house 63 from the outside.

Further, in the case where movements designated under remote control areperformed, if the controller 20 recognizes, based on the imagerecognition signal S4A from the image processor or the sound recognitionsignal S2A from the sound processor 21, that the controlled device wasnot be correctly driven by a switch operation, it controls the soundprocessor 21 and the communication unit 25 to produce a message ofinforming of this error and transmits this to the user.

In this way, using this robot 1, the user at a remote place can confirmwhether the robot can surely finish operations designated by him or not,and can check the reason for this error by controlling the robot 1 asrequired.

(2-5) Security function

In addition, this robot has a security function to detect trouble.

In actual, the controller 20 of the robot 1 always checks input of thegas and smoke detection signal S6 from the gas sensor and smoke sensor15 (FIG. 2), and if receiving the gas and smoke detection signal S6, itcontrols the sound processor 21 to give sounds from the speaker 11 toinform of this situation.

In addition to this, in the case where an informing mode is set, thecontroller 20 controls the communication unit 25 and the sound processor21 to transmit a prescribed message to the previously registered user'scontact number and moreover, after that, if a predetermined time ispassed in this situation or if a large amount of gas or smoke isdetected, the controller 20 controls the communication unit 25 and thesound processor 21 and calls the police or the fire department to informof this situation, as shown in FIG. 17.

Further, for example, in the case where an answering telephone mode ofthe security function is set, the controller 20 always checks thehouse's condition based on the image recognition signal S4A from theimage processor 22 and the sound recognition signal S2B from the soundprocessor 21. If a person who can not be recognized or identified (whois not previously registered) is detected, the controller 20 controlsthe communication unit 25 and the sound processor 21 to transmit aprescribed message to the previously registered user's contact numberand the police, as shown in FIG. 18.

Furthermore, in addition to these functions, in the case where the gasand smoke detection signal S6 is input or in the case where a person whocan not be recognized or identified is detected while the answeringtelephone mode of the security function is set ON, the controller 20sequentially memorizes image information from the image processor 22 andsound information from the sound processor 21 at this time, and then,when a reproduction request is made, it displays images based on thememorized image information on the image display 13 and gives soundbased on the memorized sound information from the speaker 11.

In this way, the robot 1 can memorize and show situations in the case ofdisaster, accident, illegal intruder, or the like, like a voice recorderof an airplane.

(2-6) Automatically maintenance and version-up function

In addition, this robot 1 has an automatically maintenance andversion-up function for automatically performing maintenance by callinga maintenance center 60 or for automatically updating a version.

In actual, the controller 20 of the robot 1 regularly calls themaintenance center 60 by controlling the communication unit 25. And thecontroller 20 communicates with a check device of the maintenance center60 to check various functions including the controller 20 under thecontrol of the check device. If the controller 20 detects abnormality inany parts, it communicates this situation to the check device of themaintenance center 60, and moreover, controls the image processor 22 todisplay a message on the image display 13 for informing of thissituation.

Further, the controller 20 controls the communication unit 25 toregularly call the maintenance center 60. Then, the controller 20 takesin an updated program supplied from the maintenance center 60 via thecommunication unit 25, and stores it in an internal memory for programs,not shown, in place of the old program.

Further, with respect to the updated programs which are one-sidedlygiven through the telephone line, the controller 20 takes in these viathe communication unit 25 similarly to the above cases, and then storesthese in a memory for programs as described above.

In this way, this robot 1 can automatically perform maintenance orupdate of a version.

(2-7) E-mail management function

On the other hand, this robot 1 has an E-mail management function formanaging E-mail.

In actual, when the controller 20 of the robot 1 recognizes thereception of E-mail, it takes in the text data in an internal memory notshown.

Next, the controller 20 judges based on data about a designation whothis E-mail is for, and then it looks for the corresponding user withthe method described in the call connecting function, to come nearer tohim, based on this judgment. After that, it controls the sound processor21 to give a message from the speaker 11 for informing of this E-mail.

At this time, similarly to the case described in the call connectingfunction, for example, if the sender of E-mail is previously registeredas “an unfavorite”, the controller 20 controls corresponding jointmechanisms to produce the movement for “sorrow” as described in FIG. 9;and in the case where the sender of E-mail is previously registered as“a favorite”, the movement for “pleasure” as described in FIG. 11 isproduced.

In this way, this robot 1 can inform the user of the sender of E-mailwith movements, in addition to the management.

(2-8) Helper-requiring-person monitoring function

Further, this robot 1 has a helper-requiring-person monitoring functionfor monitoring a user, such as an elderly person and a child, who needsa helper or monitor.

In actual, in the helper-requiring-person monitoring function is set ON,the controller 20 of this robot 1 always monitors the user's movementsand conditions designated by another user based on the image recognitionsignal S2A from the image processor 22, the sound recognition signal S4Afrom the sound processor 21, and the output-of-sensor reception signalS12 from the output-of-sensor receiver 17 (FIG. 2).

If the user does not move over a predetermined time or if the user doesnot give voice, the controller 20 looks for the user to come nearer tohim as described in the call connecting function.

Then, when the controller 20 comes nearer to the user up to apredetermined distance, it controls the sound processor 21 to give aprescribed message or music from the speaker 11. After that, it keeps onmonitoring the user's movements, and if he shows no reaction, itcontrols the sound processor 21 and the communication unit 25 to callthe previously registered family and hospital, and transmits a messageto inform of this trouble.

(2-9) Dancing function

Further, this robot 1 has a dancing function of dancing to musicgathered by the microphone 10 or of dancing based on music transmittedthrough the telephone line 44 or MIDI (Musical Instrument DigitalInterface) signals generated by coding note information.

Here, the MIDI standard is the international standard for connecting asynthesizer, a rhythm box, a sequencer, a computer, and so on, to eachother. In addition, the MIDI standard is defined, in which informationsuch as note-on (give sounds), note-off (stop sounds), pitch-bender(continuously change scales) and control change (other various kinds ofcontrol) is transmitted together with an identification number as a MIDIsignal at 130 per one second. As a result, all information expressed byplaying the musical instruments by people can be transmitted as MIDIsignals.

In the case where the dancing function is set ON, when the MIDI signalthrough the telephone line 44 is supplied, the sound processor 21 ofthis robot 1 takes in this via the communication unit 25, extractsinformation on music characteristics such as rhythm, intervals, strengthof tone, from the MIDI signal and moreover, produces a synchronizedsignal based on the extracted information.

For example, the sound processor 21 extracts only information on a dram,and with timing of beating the drum as a reference on the basis of theextracted information, produces a synchronized signal by generatingpulse at that timing, and then transmit this to the controller 20.

Further, in the case where music is gathered by the microphone or in thecase where the music (non-MIDI signals) is supplied through thetelephone line or the like, the sound processor 21 detects musiccharacteristics such as rhythm, intervals, strength of tone of themusic, based on the music obtained based on the gathered signal 1 givenfrom the microphone 10 or the music transmitted through the telephoneline, and moreover, produces a synchronized signal based on the musiccharacteristic of the music based on the detection result similar to theabove case, and transmits this to the controller 20.

Then, the controller 20 moves the joints mechanisms of the joint partsin the legs 5A-5D, the connecting parts between each leg 5A-5D and thebody 2 and the connecting part between the head 6 and the body 2 basedon thus generated synchronized signal, so that the robot 1 moves as ifit danced to rhythm, as shown in FIG. 22.

(2-10) Inter-robot communicating function

Furthermore, this robot 1 has an inter-robot communicating function, sothat the robots 1 can play such a soccer game together whilecommunicating.

In actual, in the case where the inter-robot communicating function isset ON, the controller 20 of the robot (hereinafter, referred to as thefirst robot) 1 monitors the position and condition of the other robot(hereinafter, referred to as the second robot) 1 based on the imagesignal S4 from the image processor 22.

When the controller 20 of the first robot 1 wants the second robot 1perform desired movements, it transmits to the second robot 1 a requestto perform the movements via the communication unit 25.

At this time, the controller 20 of the second robot 1 drives therequired joint mechanisms based on the movement request supplied via itsown communication unit 25, to perform the designated movements.

In this way, in these robots 1, the robots 1 control each other's robots1 to work together while communicating with each other.

Note that, FIG. 24 shows the structure example of the game system 70,for example, in which two users play the soccer game by using such theinter-robot communicating function.

In the game system 1, two personal computers 71A, 71B are used and eachuser uses his own personal computer 71A, 71B to input a performancerequest such as “kick the ball forward and attack” and “attack from theright and shoot the ball”.

In this case, these personal computers 71A, 71B transmit to the robots 1of respective teams a command corresponding to the input request,through the Internet 72, a communication server 73, a telephone line 74,and the telephone 75A, 75B in order.

As a result, the robots 1 of the respective teams execute the requestswhile communicating with each other and control each other's robots 1based on requests, as described above.

In this way, in this game system 70, two users control the robots of therespective teams to play the soccer game.

(3) User identifying method of robot 1

Next, a human recognizing and identifying method for realizing theabove-mentioned call connecting function, helper-requiring-personmonitoring function, security function and so on, will be described.

At first, in this robot 1, the image processor 22 recognizes andidentifies users, for example, by using the method disclosed in JapanPatent Laid Open No. 89344/94. Concretely, a face pattern studying andrecognizing part 80 as shown in FIG. 25 is provided in the imageprocessor 22 to recognize and identify users.

This face pattern studying and recognizing pat 80 quantizes the facepart of a human from image information which is supplied from the imagerecognizing section 12, with a memory 81 composed of a RAM (RandomAccess Memory) and an analog/digital converter, for example, every eightbits, and stores the obtained face image data I(x,y) being secondaryluminance information on the x-y plane, in the RAM of the memory 81.

A preprocessor 82 calculates, as to each of r pieces of functionsF_(i)(x,y) (i=1,2, . . . ,r) previously stored in a function studyingand storage section 84 as a basic model of the face image data I(x,y)stored in the memory 81, a contribution degree X_(i) which is thecorrelation amount with respect to the face pattern P(x,y).

Further, a comparison processor 83 detects a function F_(MAX)(x,y)having the maximum contribution degree X_(MAX)(1≦MAX≦r) based on thecalculation result, changes the function F_(MAX)(x,y) or the facepattern P(x,y) until the contribution degree X_(MAX) of this functionF_(MAX)(x,y) becomes the maximum or the largest point, in order tocalculate the change amount M(x,y) which is the difference between thefunction F_(MAX)(x,y) and the face pattern P(x,y).

This change amount M(x,y) is supplied to the function studying andstorage section 84 and a change amount analyzing section 85. Inaddition, to the function studying and storage section 84, the facepattern P(x,y) is also supplied.

The function studying and storage section 84 is formed of theneural-network, and stores the r pieces of functions F_(i)(x,y) (i=1,2,. . . , r) as a basic model of the face pattern P(x,y) as describedabove.

Then, the function studying and storage section 84 uses the suppliedchange amount M(x,y) to change the function F_(MAX)(x,y) or the facepattern P(x,y), and updates the function F_(MAX)(x,y) based on thechanged function F_(MAX)′(x,y) and the changed face pattern P′(x,y) onthe x-y plane.

On the other hand, the change amount analyzing section 85 analyzes thechange amount M(x,y) supplied from the comparison processor 83,eliminates components of the differences in top, bottom, right, and leftsides, in the shift due to rotation, or of the difference in size due tosuch the perspective and the expansion and reduction of the imagerecognizing section 12 (FIG. 2), of the face pattern P(x,y) on thescreen, from the change amount M(x,y), in order to generate a new changeamount Mtdr(x,y), and then transmits this to a human informationstudying and storage section 86.

In the case where the movement mode is a study mode, the humaninformation studying and storage section 86 stores the supplied changeamount Mtdr(x,y) into an internal memory not shown by correlating itwith human information K(t) which is the function of numbers t (t=1,2, .. . , T; T is the number of human's faces) assigned to, for example,humans (faces) and is supplied from the controller 20 (for example,treating the average of plural change amounts Mtdr(x,y), Mtdr′(x,y),Mtdr″(x,y) . . . with respect to the face image of the same person t asthe human information K(t)).

That is, in the case where the movement mode is the study mode, thehuman information studying and storage section 86 stores the changeamount Mtdr(x,y) itself of a human t outputted from the change amountanalyzing section 85 as human information, and after that, whenever thechange amount Mtdr(x,y) of the same person t is input, it updates thehuman information K(t) based on the change amount Mtdr(x,y).

Further, in the case where the movement mode is the recognizing mode,the human information studying and storage section 86 calculates, forexample, an Euclidean distance between the change amount Mtdr(x,y)supplied from the change amount analyzing section 85 and the humaninformation K(t) previously stored in the internal memory, and transmitsthe number t of the human information K(t) having the shortest Euclideandistance as a recognition result K0 to the controller 20.

Then, the controller 20 recognizes who the photographed person is (theperson's name), based on this recognition result K0 and the person'sname previously stored corresponding to the number t at the time ofregistration.

Then, in the face pattern studying and recognizing part 80 having suchthe structure, the change amount analyzing section 85 analyzes thechange amount M(x,y), eliminates the parallel movement components, therotary movement component, and the expansion and reduction component, ofthe face pattern P(x,y), which are included in the change amount M(x,y),and updates the reference pattern stored in the human informationstudying and storage section 86 based on the new change amountMtdr(x,y). As a result, the high recognition rate can be obtained.

(4) Synchronized signal producing method of robot 1

Sequentially, a method of producing the aforementioned synchronizedsignal for realizing the aforementioned dancing function will bedescribed.

In this robot 1, a synchronized signal producing part 90 as shown inFIG. 26 is provided in the sound processor 21, as a method of making therobot 1 dance based on the music gathered by the microphone 10, themusic characteristics of music transmitted through the telephone line,and the music characteristics included in MIDI signals supplied throughthe telephone line 44 from the outside.

The synchronized signal producing part 90 inputs a MIDI signal S20supplied from the outside via the communication unit 25 to a MIDI signalprocessor 91. The MIDI signal processor 91 extracts the musiccharacteristics such as the rhythm, the interval and the strength ofsounds, which are previously determined, from the supplied MIDI signalS20 and moreover, produces the synchronized signal S21 based on theextracted music characteristics, and outputs this to the controller 20.

The synchronized signal processing part 90 inputs the gathered soundsignal S1 supplied from the microphone 10 and the music informationsupplied from the communication unit 25 to a non-MIDI signal processor91. In this case, the non-MIDI signal processor 91 selects a signalprocessing mode from three signal processing modes by the outsidemanipulation.

When the first signal processing mode is selected, for example, thegathered signal S1 from the microphone 10 or the music information fromthe communication unit 25 is supplied to a band pass filter 93 which iscomposed of a variable band pass filter circuit or plural band passfilter circuits. The band pass filter 93 extracts the component ofsignals having a predetermined frequency bandwidth, which is included inthe gathered signal S1 or the music information. As a result, the signalcomponent, for example, of a predetermined musical instrument (forexample, a drum) continuously played is extracted and supplied to apower measuring section 94 as a filter processed signal S22.

The power measuring section 94 detects power (strength) of sounds basedon the supplied filter processed signal every predetermined interval(for example, every 10 [ms]), and sequentially transmits the detectionresults to a characteristic controller 95 as a power detection signalS24.

The characteristic controller 95 detects a part (time) exceeding apredetermined set threshold value from the supplied power detectionsignal S24. In addition, the characteristic controller 95 measures therhythm, the intervals and the strength of sounds on a time axis based onthe detection result, and produces the aforementioned synchronizedsignal S21 based on the measurement result.

Then, in such the first signal processing mode, the synchronized signalS21 is produced to make a robot dance to the tempo and power, mainly oflike a drum, and supplied to the controller 20.

On the other hand, in the case where the second signal processing modeis selected, the non-MIDI signal processor 92 supplies the gatheredsignal S2 from the microphone 10 or the music information from thecommunication unit 25 to the band pass filter 93, and the gatheredsignal S1 or the music information is subjected to filtering processingfor all bandwidth there, and then, the obtained filtering processedsignal S23 is supplied to a basic frequency extracting section 95.

The basic frequency extracting section 95 extracts a basic frequencyfrom the supplied filtering processed signal S23, and the obtained basisfrequency signal S25 is supplied to the characteristic controller 96.The characteristic controller 96 measures the supplied basis frequencysignal S25 as the difference on the time axis, and produces theaforementioned synchronized signal S21 based on the specific differentinformation.

Then, in such the second signal processing mode, such the synchronizedsignal S21 as to make a robot dance to melody of music played withplural music instruments is produced and supplied to the controller 20.

Otherwise, in the case where the third signal processing mode isselected, in the non-MIDI signal processor 92, the gathered signal S1from the microphone 10 or the music information from the communicationunit 25 is supplied to the band pass filter 93, and the component ofsignals having the specific frequency bandwidth, which is included inthe gathered signal 1 or the music information, is extracted theresimilarly to the first signal processing mode. Then, the obtainedfiltering processed signal S23 is supplied to the power measuringsection 94. As a result, similarly to the first signal processing mode,the power detection signal S24 based on the filtering processed signalS23 is generated at the power measuring section 94 and supplied to thecharacteristic controller 96.

In addition to this, the band pass filter 93 applies the filteringprocessing to all bandwidth of the gathered signal S1 or the musicinformation, and transmits the obtained filtering processed signal S23to the basic frequency extracting section 95, similarly to the secondsignal processing mode. As a result, similarly to the second signalprocessing mode, the basic frequency signal S25 based on the filteringprocessed signal S23 is produced at the basic frequency extractingsection 95, and then supplied to the characteristic controller 96.

Then, the characteristic controller 96, based on the supplied powerdetection signal S24 and basic frequency signal S25, produces thesynchronized signal S21 with the combination of processing in the firstand second signal processing modes.

In actual, in the case where a drum which has few musical intervaldifference is the main musical instrument even the same music, thecharacteristic controller 96 produces the synchronized signal S21 basedon the tempo and the strength of sound, similarly to the first signalprocessing mode. Further, in the case where a stringed instrument whichgives silence sounds and has less difference of strength of sounds isthe main musical instrument, the characteristic controller 96 producesthe synchronized signal S21 based on the difference of the basisfrequency, similarly to the second signal processing mode. Furthermore,in the case of the mixture of these, it performs a mutual correctionwith at least two characteristics to produce the synchronized signalS21.

In such the third signal processing mode, the synchronized signal S21 isproduced with high accuracy by the mixture of good processing in thefirst and second processing mode and is supplied to the controller 20.

In this way, the synchronized signal producing part 90 produces thesynchronized signal S21.

(5) Operation and Effect of this embodiment

In the aforementioned configuration, this robot 1 displays images basedon image information on the image display 13 and gives sounds based onsound information from the speaker 11, which are supplied through thetelephone line 44 from the outside, and at the same time, moves inaccordance with conversations. Further, the robot 1 performs designatedmovements based on a movement request (a second or third code number)supplied from the outside through the telephone line 44.

Therefore, using this robot 1 enables the transmission of feelings viasounds and images and further, the transmission of feelings via themovements of the real robot 1, thereby making it possible tocommunication with reality as if a communicating party was in front ofyou. In addition, for example, by using this robot 1, it is possible fora family and a doctor to call the robot 1 shown in FIG. 1 to monitorchildren and elderly people via the image recognizing section 12 of therobot 1 and to smoothly communicate by talking via the robot 1 when thechildren and elderly people who need helpers are in a house.

Further, if nobody answers a phone call from the outside within apredetermined time, the robot 1 judges the user's condition based on theoutputs of various sensors disposed in the house, and transmits amessage based on the judgment to a communicating party. Therefore, byusing this robot 1, it is possible to give a suitable message for ananswering telephone to the communicating party without troublesomesetting work.

Furthermore, the robot 1 recognizes which user a phone call is for, by anumber display service or asking with sounds when receiving the phonecall from the outside, and comes nearer to the user based on therecognition. Thus, using this robot 1 enables a user to talk to acommunicating party on the phone even if the user is too busy to go andget a receiver.

Furthermore, this robot 1 turns ON/OFF the switches of the video taperecorder 51 and the television set 52, and the switches 53, 54 on thewall and floor in the house, based on a request given from the userthrough the telephone line 44. Therefore, by using this robot 1, it ispossible to control electrical appliances and switches which can not bemanipulated by the telephone operation.

Furthermore, this robot 1 always recognizes the condition of a house,and calls a user, police, fire department or the like if discoveringabnormality. By using this robot 1, it is possible to secure security ofa house.

Furthermore, this robot 1 regularly calls the maintenance center 60 tocheck its various functions or to download the latest programs.Therefore, this robot 1 enables a user to use it without considering itscondition.

Furthermore, this robot 1 detects a user being the designation and comesnearer to him when receiving E-mail. Therefore, using the robot 1enables the user to recognize the Email with ease.

Furthermore, this robot 1 always checks a designated user and callsanother user or a hospital previously registered if discoveringabnormality. Therefore, by using the robot 1, it is possible to handlewith the case where a person who needs a helper is into trouble.

Furthermore, this robot 1 dance to rhythm based on music formed ofsounds gathered from the outside and the MIDI signal S20 transmittedthrough the telephone line 44. Therefore, this robot 1 can improve itsamusement.

Furthermore, this robot 1 controls another robot 1 while theycommunicate with each other. Therefore, this robot 1 can makes pluralrobots 1 work together.

According to the aforementioned configuration, the robot 1 displays andgives images and sounds based on image information and sound informationsupplied from the outside through the telephone line 44, moves inaccordance with conversions, and performs designated movements based ona movement request given from the outside through the telephone line 44,thereby making it possible to transmit feelings via sounds and imagesand feelings via movements of the real robot 1 so as to communicate withreality. Thus, a robot with high usability can be realized.

In addition, the robot 1 has the telephone function, the answeringtelephone, the call connecting function, the remote control function,the security function, the automatically maintenance and version-upfunction, the E-mail management function, the helper-requiring-personmonitoring function, the dancing function, and the inter-robotcommunicating function, thereby making it possible to make the robotperform helpful movements and action for the user. Thus, a robot withhigh usability can be realized.

(6) Other embodiments

Note that, in the aforementioned configuration, the case has beendescribed, in which the appearance of the robot 1 is like a dog or catso that a user can take to it similarly to real animals. However, thepresent invention is not limited thereto and other various kinds ofappearances can be applied. In this case, plural rollers and wheels canbe used in place of the plural legs 5A-5D as a moving means of the robot1.

Further, in the aforementioned configuration, the case has beendescribed, in which the robot 1 transmits and receives various kinds ofinformation through the telephone line 44 to/from the outside. However,the present invention is not limited thereto and similar communicationcan be achieved through mobile telephone line, radio waves, a circuitfor Internet, infrared signals, a LAN (Local Area Network), or the like.

Furthermore, in the aforementioned configuration, various requests canbe input by manipulating the key input section 24 or manipulating thedial buttons of the outside device 50. However, the present invention isnot limited thereto and, in place of or in addition to it, a request canbe input by voices using a sound recognizing function of the controller20 or a request can be input with a remote controller.

Furthermore, in the aforementioned configuration, as a method ofmanipulating an electric appliance in a house by the robot 1, the casehas been described, in which the robot 1 moves up to the electricappliances to output an infrared signal IR2 or to physically manipulateswitches. However, the present invention is not limited thereto and aLAN can be provided in the house and all electric appliances in thehouse can be connected to this LAN so that the robot 1 can manipulate acorresponding electric appliance through this LAN. Note that, in thiscase, the robot 1 and the LAN are connected to each other by radio, sothat the robot 1 can move freely.

Furthermore, in the aforementioned configuration, in the case ofreceiving a phone call or E-mail from the outside, the robot 1 moves upto the user. However, the present invention is not limited thereto andthe robot 1 can give different sounds depending on users or output thename of a corresponding user to inform who the phone call is for.

Furthermore, in the aforementioned configuration, the case has beendescribed, where, in the case where connecting a phone call from theoutside to a corresponding user, the robot 1 looks for the user.However, the present invention is not limited thereto and, in the casewhere users are almost at fixed places, the robot 1 can previouslymemorize the places of the users to move up to the place whileconfirming the posture and position using the output of the accelerationand angular velocity sensor 23 when receiving a phone call.

Furthermore, in the aforementioned configuration, the case of memorizingsounds and images as an answering telephone function has been described.However, the present invention is not limited thereto and, for example,text data can be also memorized. In addition, the maintenance center 60can manage text data such as E-mail, and, under the control of themaintenance center 60, text such as E-mail can be written and read viathe sound processor 21 of the robot 1.

Furthermore, in the aforementioned configuration, the case has beendescribed, in which the robot 1 looks for a user while confirming userswhen receiving a phone call from the outside. However, the presentinvention is not limited thereto and the robot 1 can give sounds fromthe speaker 11 to call the corresponding user when receiving a phonecall and can moves its body toward the direction of hearing a response,or can move toward the corresponding user who performs movements (forexample, waving his hand).

Furthermore, in the aforementioned configuration, the case will bedescribed, in which the robot 1 has a battery (a battery such as aprimary battery, other than a repeatedly chargeable battery such as alithium secondary battery) as a power source. However, the presentinvention is not limited thereto and an alternating power source forbusiness can be used as a power source, for example.

Furthermore, in the aforementioned configuration, in the explanation ofthe remote control function, the case where the robot 1 is controlled bymanipulating the dial buttons of the outside device has been described.The present invention, however, is not limited thereto and a user givesa request, for example, “right” or “left”, with sounds while confirmingthe surrounding situations which are photographed by the imagerecognizing section 12 and are transmitted from the robot 1, and therebythe robot 1 can move in accordance with the request.

Furthermore, in the aforementioned configuration, the case has beendescribed, in which the synchronized-signal generator 90 of the soundprocessor 21 is configured as shown in FIG. 26. However, the presentinvention is not limited thereto and for example, a judgment circuit isdisposed at the input stage of the synchronized-signal generator 90 forjudging whether an input signal is a MIDI signal and moreover, thesynchronized-signal generator 90 can be configured so that the gatheredsignal S1 from the microphone 10, music information read out from aremovable storage medium not shown, or music information such as MIDIsignals are all supplied to this judgment circuit, MIDI signals aresupplied to the MIDI signal processor 91 based on the judgment result ofthe judgment circuit, and non-MIDI signals are supplied to the BPFsection 93.

Furthermore, in the aforementioned configuration, the answeringtelephone function is applied to the robot 1 having the configuration asshown in FIG. 1. However, the present invention is not limited theretoand it can be applied to an information processing system having othervarious kinds of configurations.

Furthermore, in the aforementioned configuration, the case has beendescribed, in which a response message for answering telephone isproduced by the sound processor 21. However, the present invention isnot limited thereto and such a response message can be previously storedin a prescribed storage medium like a memory and a corresponding messagecan be read out according to the user's conditions and be transmitted toa communicating party.

Industrial Applicability

A robot and an information processing system can be applied to anamusement robot, a helper robot and so on.

What is claimed is:
 1. A robot apparatus comprising receiving means forreceiving an external communication signal; first memory means forstoring identification information of a plurality of persons; imagingmeans for detecting images of surroundings of the robot; a plurality ofcomponent units connected to said robot; driving means for driving saidplurality of component units; second memory means for storing feelinginformation of each of said plurality of persons; identifying means foridentifying a sender and a receiver of a communication signal when saidreceiving means receives said external communication signal; and searchmeans for searching for said receiver identified by said identifyingmeans based on an output image from said imaging means and theidentification information stored in the first memory means, whereinsaid robot moves to said receiver when said search means finds saidreceiver and notifies said receiver of a call with a performance usingsaid plurality of component units in accordance with said feelinginformation of said sender.
 2. The robot apparatus according to claim 1,wherein the receiving means comprises a telephone communicating means.3. The robot apparatus according to claim 1, wherein the externalcommunication signal is formed of an E-mail message.
 4. The robotapparatus according to claim 1, wherein the performance is an emotionalperformance.
 5. An automatically-moving robot, comprising: memory meansfor storing information; changing means for changing said informationstored in said memory means; and communicating means for periodicallycommunicating with an external information providing device, whereinsaid changing means updates the information based on request informationfrom said external information providing device.
 6. The robot accordingto claim 5, wherein said information is control information for saidautomatically-moving robot.
 7. A robot comprising: telephonecommunication means; means for receiving respective outputs from aplurality of sensors mounted on one of a user and the surroundings ofthe user; user's condition recognizing means for recognizing the user'scondition based on a combination of said outputs of said plurality ofsensors memory means for storing a plurality of response messages inaccordance with the user's condition, wherein the robot provides aresponse message by reading a message from the memory means inaccordance with the user's condition recognized by said user's conditionrecognizing means when a telephone call is not answered within apredetermined line.
 8. The robot according to claim 7, wherein saiduser's condition recognizing means includes a table that indicatesrelations between each user's condition and said outputs from saidplurality of sensors.
 9. An information processing system comprising:telephone communication means; means for receiving respective outputsfrom a plurality of sensors that are mounted on one of a user and theuser's surroundings; user's condition recognizing means for recognizingconditions of said user based on a combination of the outputs from saidplurality of sensors; memory means for storing a plurality of responsemessages in accordance with said conditions of said user, wherein theinformation processing system provides a response message by reading amessage from said memory means in accordance with the user's conditionrecognized by said user's condition recognizing means when a telephonecall is not answered within a predetermined time.
 10. A robotcomprising: sensor means for inputting information from a user; aplurality of component units connected to the robot; driving means fordriving said plurality of component units; output means for outputtingpredetermined information; and communicating means for communicatingwith another electronic device, wherein the robot provides a motiondriving the plurality of component units when an input is not receivedfrom said user within a predetermined time, and after providing saidmotion, said communicating means transmits said predeterminedinformation from said information outputting means to another electronicdevice when the input is still not received from the user within apredetermined time.
 11. A robot comprising: a movement part forproducing movements; a driving means for driving said movement part;input means for inputting music information; characteristic amountextracting means for extracting a characteristic amount of music basedon said music information based on said music information input via saidinput means; synchronized-signal generating means for generating asynchronized-signal based on said characteristic amount extracted bysaid characteristic amount extracting means; and control means forcontrolling said driving means based on said synchronized-signal.